Atıf İçin Kopyala
Urgan A., Daşdemir J.
ITU Computer Science AI and Robotics, cilt.1, sa.1, ss.26-32, 2024 (Hakemli Dergi)
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Yayın Türü:
Makale / Tam Makale
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Cilt numarası:
1
Sayı:
1
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Basım Tarihi:
2024
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Dergi Adı:
ITU Computer Science AI and Robotics
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Sayfa Sayıları:
ss.26-32
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Yıldız Teknik Üniversitesi Adresli:
Evet
Özet
This paper presents a control mechanism designed for an RRR-type robot manipulator, Geomagic Touch Phantom OmniTM" role="presentation" >TM, to track a desired reference signal. The control mechanism utilizes the computed torque control method, a nonlinear control approach. Utilizing the properties of the haptic device, a force controller is designed to allow the operator to feel the hard contact state. Since external torque or force measurements are not directly accessible, a method similar to the position-position method is used. The study used an API-based library running in the MATLAB/SimulinkTM" role="presentation" >TM environment instead of a data transfer unit. Stability analysis shows that the system error dynamics are globally asymptotically stable and all signals within the closed-loop system are bounded. The applicability and performance of the proposed method are validated by experimental results. We propose a bilateral teleoperation system based on the Computed Torque Control (CTC) method that ensures safe interaction with the surroundings without assuming any prior knowledge of the surroundings.